KR102187934B1 - A system for packaging diamond powder in cup - Google Patents

Abstract

Disclosed is an automatic quantitative diamond powder packaging system. The system includes: a tray loading part receiving a tray in which a storage container for storing a measured amount of diamond powder is mounted; a storage container arrangement apparatus arranging storage containers before supplying the containers to a diamond powder supply position by picking up the containers from the tray of the tray loading part one by one; a diamond powder supply apparatus measuring diamond powder by automatically supplying the diamond powder to the storage containers properly positioned by being arranged to the diamond powder supply position; a powder flattening apparatus flattening the surface of the diamond powder in the storage containers in which diamonds are measured and stored through the diamond powder supply apparatus; a pickup apparatus picking up the tray and the storage containers and clamping tools used for the diamond powder supply and powder flattening processes; a robot apparatus operating and controlling the pickup apparatus and a robot arm connected with the pickup apparatus; and a control part independently operating and controlling the diamond powder supply apparatus, the powder flattening apparatus, the pickup apparatus and the robot apparatus by the diamond powder supply and flattening processes and the position transfer operation of the storage containers. Therefore, the present invention is capable of automatically and precisely supplying and storing a fixed amount of diamond powder and automatically flattening the stored diamond powder.

Description

Diamond powder quantitative automatic packaging system {A SYSTEM FOR PACKAGING DIAMOND POWDER IN CUP}

The present invention relates to a diamond powder quantitative automatic packaging system, and more particularly, to a diamond powder quantitative automatic packaging system that can be packaged by automatically supplying diamond powder accurately and quantitatively to a container for accommodating diamond powder.

In general, diamond powder is used in various industrial fields because of its excellent mechanical properties.

As an example, diamond powder is widely used as a raw material for diamond tools that are mounted and used for sawing, drilling, and grinding. In addition, diamond tools are also used as tools such as diamond saws and wheels according to the processing purpose of cutting and polishing various hard materials such as stone, concrete and asphalt.

These diamond tools are generally used by bonding and attaching a segment made of diamond powder (particle) and a binder to a steel core forming a body. The binder is made of an alloy powder (metal powder) made of iron, tungsten, copper, cobalt, nickel, and the like.

Therefore, in order to manufacture the segment, the diamond powder and the binder are mixed and manufactured, and the mixing ratio of the diamond powder must be appropriately set and introduced according to the use of the diamond tool.

As such, diamond powder, which is used not only in diamond tools but also in industrial fields, is expensive and requires quantitative supply, so it is very important to pack and package the diamond powder in a predetermined packaging container (cup).

To this end, conventionally, a metal container in the shape of a flat cup is placed on a scale, and while the operator checks the measured value of the scale, the work has been performed in such a manner that the amount of diamond powder is put in the metal container little by little to adjust the quantity.

Therefore, it takes a long time to work, increases the cost, and has a problem in that there is a case where the tolerance is out of the tolerance in quantification according to the skill level of the operator.

Korean Patent Registration No. 10-1230454

The present invention has been invented in view of the above points, and an object of the present invention is to provide a diamond powder quantitative automatic packaging system capable of automatically containing diamond powder in a quantitative amount in a receiving container.

In order to solve the above object, the automatic packaging system for quantitative diamond powder of the present invention comprises: a tray loading unit provided with a tray equipped with a receiving container for weighing and containing diamond powder; A receiving container alignment device that picks up the receiving containers individually from the tray of the tray loading unit and aligns them before supplying them to the diamond powder supply position; A diamond powder supply device that automatically supplies and measures diamond powder to the receiving container aligned to the diamond powder supply position and positioned therein; A powder flattening device for flattening a surface of diamond powder in a container containing diamonds measured by the diamond powder supplying device; A pickup device for picking up the receiving container and the tray, and clamping tools used in the diamond powder supply and powder flattening process; A robot device for driving and controlling the pickup device and a robot arm to which the pickup device is connected; And a control unit for independently driving and controlling the diamond powder supply device, the powder flattening device, the pick-up device, and the robot device for each position movement operation of the receiving container, a diamond powder supply process, and a planarization process. do

Thereby, the diamond powder can be automatically put into the receiving container by quantitative measurement and flattened.

Here, the receiving container alignment device includes: a container alignment member connected to the loading frame of the tray loading unit and disposed in an up-and-down manner so that the receiving container moved by the pickup device slides and aligns with the pickup position; And an air injection member for injecting air to the container alignment member to closely contact the receiving container placed on the container alignment member to the alignment position.

Accordingly, it is possible to accurately pick up and position the receiving container to the diamond powder supply position.

In addition, the container alignment member, the slide plate is installed inclined up and down from the front end of the loading frame; And a pair of container guide ribs that are protruding from the inclined surface of the slide plate and gradually narrow the gap toward the bottom so that the receiving container is guided and guided to stop while descending.

Thereby, it is possible to set the pickup position by easily aligning the receiving container to the alignment position by a simple configuration.

In addition, the diamond powder supply device, the weight measurement unit installed on the powder supply device frame; A container holder installed on the weight measuring unit and on which the receiving container is mounted; A powder fine supply unit for finely supplying diamond powder to a receiving container placed on the container holder; A powder reservoir in which diamond powder to be put in the receiving container is stored; A quantitative spoon for supplying the diamond powder of the powder storage container to the micro-supply unit and the receiving container; Including a spoon loading amount control unit for adjusting the amount of powder contained in the quantitative spoon, the quantitative spoon contains diamond powder in the powder reservoir in a state clamped by the pickup device, and a receiving container placed on the container holder and It is preferable to be used to transfer to the fine powder supply unit.

As a result, diamond powder is automatically supplied and contained in the receiving container, but it can be measured and contained in a quantity.

In addition, the powder fine supply unit, the fine powder supply hopper is installed on the upper portion of the container holder, and formed at the bottom of the outlet through which diamond powder is discharged; A powder supply amount control unit for adjusting an amount of discharge to be discharged through the discharge port by flowing the diamond powder accommodated in the powder fine supply hopper; A vibration generating unit for generating vibration in the powder fine supply hopper, wherein the fine powder supply hopper includes a hopper body having a funnel shape and a hopper support unit connected to the hopper body and connected to the powder supply device frame. Good to include.

Thereby, the amount of diamond powder supplied to the receiving container can be finely adjusted and quantitatively measured.

In addition, the spoon loading amount control unit, the loading amount control blade for scraping off the diamond powder exposed to the upper surface of the quantitative spoon; A rotation member that supports the loading amount adjustment blade and is installed to be reciprocally rotated in a horizontal direction; A rotation driving unit that reciprocates and rotates the rotation member to change the position of the loading amount control blade to be positioned above or out of the powder storage container; And a vibrator installed on the rotating member to generate vibration.

As a result, when transferring diamond powder in a quantitative spoon, the amount of transfer can be accurately controlled, and loss or contamination of the surrounding area can be prevented.

In addition, the powder flattening device may include a first flattening unit for flattening diamond powder contained in the diamond powder supplying device above the height of the receiving container to be less than the height of the receiving container; And a second flattening unit for smoothly flattening the diamond powder flattened below the height of the receiving container in the first flattening unit.

Thereby, the diamond powder contained in the receiving container can be automatically flattened.

In addition, the first flat unit, the unit frame; A container mounting jig rotatably installed on the unit frame and on which the receiving container is mounted; A jig driving unit that rotates the container mounting jig; A primary flattening module for flattening the diamond powder in the receiving container seated on the container mounting jig; Including a first flat lifting drive for driving the first flat module up and down, the primary flat module, a flat blade that enters into the receiving container to flatten the diamond powder and the flat blade is vertically vertical It is preferable to include; a blade holder fixedly installed in a posture and moved up and down by the first flat lifting drive.

Accordingly, the diamond powder accumulated in the center of the receiving container can be automatically flattened.

In addition, the second flat unit may include a unit frame; A container mounting jig rotatably installed on the unit frame and on which the receiving container is mounted; A jig driving unit that rotates the container mounting jig; A second flattening module for flattening diamond powder in the receiving container mounted on the container mounting jig; Including, the second flattening module for lifting the second flattening module for lifting and driving the second flattening module, a cylindrical flattening disk, and supporting the flattening disk, by the second flattening lifting drive unit It is preferable to include a flat disk holder that is moved up and down.

Accordingly, it is possible to automate the process of further flattening the diamond powder in the firstly flattened receiving container secondarily, thereby increasing productivity and reducing costs.

According to the diamond powder quantitative automatic packaging system of the present invention, the diamond powder is automatically and accurately quantitatively supplied to the receiving container containing the diamond powder, and the contained diamond powder can be automatically flattened.

In particular, since the receiving container can be automatically supplied and the diamond powder can be accurately weighed and contained in the supplied receiving container, compared to the conventional manual weighing by an operator, productivity can be increased to reduce cost and improve reliability. have

1 is a schematic plan configuration diagram showing a diamond powder quantitative automatic packaging system according to an embodiment of the present invention.
2 is a side view showing the accommodation container alignment device shown in FIG. 1 shown in FIG. 1.
3 is a plan view showing an extract of the tray shown in FIG. 1.
4 is a cross-sectional view of the receiving container shown in FIG. 3.
5 is a front view of the pickup device shown in FIG. 1.
6 is a plan view of the pickup device shown in FIG. 5.
7 is a front view of the pickup device shown in FIG. 5.
8 is a side view for explaining a process of aligning the pickup position of the receiving container using the container alignment device shown in FIG.
9 is a plan view for explaining the alignment device of the receiving container in FIG. 8.
10 is a cross-sectional view taken along line I-I of FIG. 9.
11A is a schematic front configuration diagram showing the diamond powder supply apparatus shown in FIG. 1.
11B is a cross-sectional view showing a main part of the powder micro-supplying unit shown in FIG. 11A.
12 is a schematic plan configuration diagram illustrating the powder storage container and the spoon loading amount control unit shown in FIG. 1.
13 is a front view showing the powder storage container and the spoon loading amount control unit shown in FIG. 12.
14 is a plan configuration diagram illustrating a process of putting diamond powder in a quantitative spoon after rotating the rotating member in the state of FIG. 12.
Each of FIGS. 15 and 16 is a side view illustrating a process of measuring diamond powder contained in a quantitative spoon by using the spoon loading amount adjusting unit illustrated in FIG. 12.
17 is a front view showing a powder spatula member for scraping and collecting diamond powder contained in a powder reservoir.
Each of FIGS. 18 and 19 is a schematic view for explaining a state in which diamond powder in the powder reservoir is collected using the powder spatula member shown in FIG. 17.
20 is a schematic front configuration diagram showing the first flat unit shown in FIG. 1.
21 is a schematic plan configuration diagram showing the first flat unit illustrated in FIG. 20.
FIG. 22 is a partial cross-sectional view showing a main part of FIG. 21 taken out.
23 is a view for explaining a process of flattening the diamond powder in the receiving container first in FIG. 22.
24A is a schematic side configuration diagram for explaining a state of pressing the receiving container placed on the container mounting jig using the container pressing member.
24B is a schematic plan view showing the container pressing member shown in FIG. 24A.
25 is a schematic front configuration diagram showing the second flat unit shown in FIG. 1.
26 is a plan view of the second flat unit shown in FIG. 25.
FIG. 27 is a partial cross-sectional view showing a main part of the second flat unit shown in FIG. 25.
FIG. 28 is a view for explaining a process of secondarily flattening diamond powder in an accommodation container in FIG. 27.

Hereinafter, a diamond powder quantitative automatic packaging system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

Referring to Figure 1, the diamond powder quantitative automatic packaging system according to an embodiment of the present invention, a pickup device 100, an accommodation container alignment device 200, a tray loading unit 300, a robot device 400, a diamond A powder supply device 500, a powder flattening device 600, and a control unit 700 are provided.

2 to 4, a plurality of the receiving container 10 is supplied by being mounted on the mounting portion 21 of the tray 20. The receiving container 10 has a circular base wall 11 and a ring-shaped outer wall 13 connected to an outer rim of the base wall 11 as shown in FIG. 4. Therefore, the receiving container 10 has a low cup shape, and is preferably formed of a metal material.

The tray 20 is supplied to be positioned on the loading frame 310 of the tray loading unit 300. The tray 20 positioned on the loading frame 310 of the tray loading unit 300 may be supplied using a separate tray supply robot or a tray supply conveyor, which is not shown. In addition, a tray unloading unit 330 for recovering the empty supply tray 20 ′ is installed adjacent to the tray loading unit 300.

The tray 20 is formed with a plurality of container mounting portions 21 on which the receiving container 10 is mounted. The container mounting portion 21 is formed in a larger size than the receiving container 10 to facilitate mounting and detachment of the receiving container 10.

The pickup device 100 is installed at the end of the robot arm 410, and the receiving container loading position (A), the alignment position (B), and the diamond powder supply position (C) by a control operation of the robot arm 410 , While moving between the powder flat positions (D1, D2), the receiving container 10 is picked up and moved to the position. The pickup device 100 includes a pickup device main body 110 coupled to the robot arm 410, a container adsorption module 120 installed in the pickup device main body 110 to absorb and pick up the receiving container 10, and pickup A tray adsorption module 130 and a tool clamper 140 installed on the device main body 110 to adsorb and pick up the tray 20 are provided.

The container adsorption module 120 includes a plurality of first container adsorption nozzles 121 that are installed to protrude from one end of the pickup device body 110 to one side, and are installed to protrude to the opposite side of the first container adsorption nozzle 121. A plurality of second container adsorption nozzles 123 are provided. The first container adsorption nozzle 121 is provided with a pair and may be used for picking up by adsorbing the inner bottom of the empty receiving container 10. In addition, a pair of the second container adsorption nozzle 123 is installed on opposite sides of the first container adsorption nozzle 121. The second container adsorption nozzle 123 may be used to pick up and pick up the lower surface of the receiving container 10. That is, from the loading position (A) to the powder supply position (C), the first container adsorption nozzle 121 adsorbs and moves the inner bottom of the receiving container 10. In addition, the receiving container 10 containing diamond powder at the powder supply position C may be safely moved by adsorbing the lower surface of the second container adsorption nozzle 123.

The tray adsorption module 130 includes a pair of tray adsorption nozzles 131 installed on one side of the pickup device main body 110. The tray adsorption nozzle 131 has a size corresponding to the container mounting portion 21 of the tray 20. In addition, the plurality of tray adsorption nozzles 131 are disposed to be spaced apart at intervals corresponding to the intervals between the container mounting portions 21. Therefore, a plurality of tray adsorption nozzles 131 simultaneously adsorb the two container mounting portions 21 of the tray 20, which are relatively larger in size and weight than the receiving container 10, thereby picking up the empty tray 20' It can be moved to the unloading unit 40.

A vacuum pressure supply line (not shown) for providing vacuum pressure is connected to each of the container adsorption module 120 and the tray adsorption module 130, thereby selectively controlling the vacuum pressure in connection with the operation of the robot device 400. It is possible to receive, inhale, and pick up. As described above, the technology and configuration for providing the vacuum pressure in the robot device 400 are readily applicable to those skilled in the art from known techniques, and thus a detailed description thereof will be omitted in the present invention.

1, 8 to 10, the receiving container alignment device 200 in the process of supplying the receiving container from the loading position (C) to the powder supply position (C), the pickup position of the receiving container 10 This is to arrange (set) the position value so that it can be picked up at the set position.

The container alignment device 200 includes a container alignment member 210 installed at a predetermined angle up and down on the loading frame 300 and an air injection unit 220 for injecting air to the container alignment member 210. .

The container alignment member 210 includes a slide plate 211 installed inclined up and down from the front end of the loading frame 310, and a pair of container guide ribs 213 installed to protrude from the inclined surface of the slide plate 211. Equipped. The slide plate 211 has a sufficient inclination angle so that when the receiving container 10 is placed on the slide surface exposed to the top, the receiving container 10 overcomes the frictional force with the slide surface and slides naturally under the load. It is good to have friction. Preferably, the slide surface has an inclination of approximately 40 degrees to 50 degrees, and is preferably formed of a metal material to minimize frictional force.

A pair of the guide ribs 213 are installed to protrude from the upper portion of the slide surface, and are disposed so that the gap gradually decreases from the upper portion to the lower portion of the slide surface. That is, the upper end of the pair of guide ribs 213 is spaced apart from the outer diameter of the receiving container 10, and the lower end is installed to be spaced apart closer than the outer diameter of the receiving container 10. Accordingly, the receiving container 10 placed on the slide surface slides down along the slide surface and is simultaneously caught by the pair of guide ribs 213 and stops at the set pickup reference position, thereby bringing the receiving container 10 to a preset pickup reference position. Can be aligned to

The guide rib 213 may be integrally formed with the slide plate 211 or may be separately manufactured and combined.

The air injection unit 220 includes an air injection nozzle 221 for injecting air from the upper portion of the slide plate 210 to the slide surface, and an air supply unit 223 for supplying air to the air injection nozzle 221 do. A plurality of air injection nozzles 221 are installed to be spaced apart from each other, and are disposed on the upper portion of the slide plate 210 to inject air downward toward the slide surface. In this way, when air is injected from the air injection nozzle 221 to the slide surface, foreign substances on the slide surface are removed, and thus the frictional force of the receiving container 10 due to the foreign substances on the slide surface can be prevented from increasing. In addition, the air injected from the air injection nozzle 221 can be effectively slid and moved on the slide surface by forcibly pushing the receiving container 10 placed on the slide surface. In addition, by injecting air from the air injection nozzle 221, the receiving container 10, which has been slid and moved, can be maintained in close contact with the pair of guide ribs 223. Accordingly, the receiving container 10 positioned at the alignment position in the alignment member 210 is accurately centered with the pickup device 100 to be absorbed and picked up.

Therefore, by being able to accurately position the diamond powder supply position (C), diamond powder is automatically supplied to the receiving container 10 in the future to prevent the diamond from flowing around the receiving container 10 when weighing, and accurate A positive amount of diamond powder can be supplied, and the lower portion of the receiving container 10 containing the amount of diamond powder can be accurately picked up and moved to the next process (loading position: D1).

The robot device 400 is for sequentially controlling the movement of the robot arm 410 according to a set work process, and is driven and controlled according to a control signal from the controller 700.

The diamond powder supply device 500 includes a weight measuring unit 510 installed on the powder supply device frame 501, a container holder 520, and a receiving container 10 placed on the container holder 520. The fine powder supply unit 530 for supplying finely, the powder storage container 540 in which the diamond powder to be stored in the receiving container 10 is stored, and the diamond powder in the powder storage container 540 are received with the fine supply unit 530 It includes a quantitative spoon 550 for supplying to the container 10, and a spoon loading amount control unit 560 for controlling the amount of powder contained in the quantitative spoon 550.

The weight measurement unit 510 may include an electronic scale, and the measured signal is transmitted to the control unit 700, and when the measured weight matches the set weight, the control unit 700 is ) To stop the micro-supply operation of diamond powder, and move the receiving container 10' containing the diamond powder quantitatively measured to the next process (flat position: D1), the robot device 400 and the robot arm 410, and The pickup device 100 is driven and controlled.

Referring to FIG. 11A, the container holder 520 is installed above the weight measuring unit 510, and the upper wall 521 preferably has a plate structure so that the receiving container 10 can be mounted thereon. In addition, the upper wall 521 and the lower wall 522 of the container holder 520 have a structure spaced apart from each other by a predetermined distance up and down, so that a predetermined space is secured between them 521 and 522. In addition, a through hole 523 is formed at a container mounting position of the upper wall 521 with a width smaller than the diameter of the receiving container 10. Therefore, it is possible to move to the lower space of the upper wall 521 so that the pickup device 100 can pick up the lower part of the receiving container 10 placed on the upper wall 521, and the receiving container placed on the upper wall 521 Since the lower part of (10) is exposed through the through hole 523, the lower surface of the receiving container 10 placed on the upper wall 521 is easily made by using the second container adsorption nozzle 123 of the pickup device 100. It can be picked up and moved.

11A and 11B, the fine powder supply unit 530 includes a fine powder supply hopper 531 installed on the container holder 520 and a small amount of diamond powder accommodated in the fine powder supply hopper 531. It includes a powder supply amount control unit 533 that adjusts to fall in increments, and a vibration generation unit 535 that generates vibration in the powder fine supply hopper 531. The micro-supply hopper 531 has a hopper body 531a having a funnel shape and a hopper support part 531b connected to the lower end of the hopper body 531a. A powder outlet is formed at the lower end of the hopper body 531a. The hopper support part 531b has a plate structure and is coupled to the powder supply device frame 501, so that the fine supply hopper 531 may be positioned above the container holder 520.

The supply amount adjusting part 533 includes a supply amount adjusting blade 533a rotatably installed in the micro supply hopper 531 and a blade driving part 533b that rotates the supply amount adjusting blade 533a. The supply amount control blade 533a has a plate structure, and is disposed in the dead direction so that the rim contacts the inner surface of the hopper body 531a. In addition, preferably, the supply amount control blade 533a is connected to the blade driving unit 533b in a state in which a pair is disposed to be spaced apart from each other by a predetermined distance. The blade driving unit 533b may include a driving motor installed in the powder supply device frame 501 and a deceleration unit that decelerates and transmits the rotational force of the driving motor to the supply amount adjusting blade 533a. In the above configuration, when the supply amount control blade 533a rotates at a predetermined rotational speed, the diamond powder accommodated in the hopper body 531a flows in the rotational motion of the rotational supply amount control blade 533a and drops by a small amount through the lower outlet. So that it can be supplied.

In addition, the vibration generating unit 535 includes a striking actuator 535a installed on the powder supply device frame 501 and a striking member 635b striking the hopper body 533a by the striking actuator 535a. Equipped. When the actuator for striking 535a is driven and controlled by the control unit 700 and controlled according to the set control logic, the striking members 635b are operated at regular intervals to strike the outside of the hopper body 533a, thereby causing the hopper body 533a ) To generate vibration (shock) at regular intervals. Accordingly, by preventing the diamond powder accommodated in the hopper body 533a from sticking to the inner wall of the hopper body 533a and preventing agglomeration, it is possible to control the dropping of the desired small amount while maintaining the powder shape.

Accordingly, it is possible to precisely control and supply the diamond powder to the receiving container 10 placed on the container holder 520, so that the diamond powder can be accurately measured and supplied to be contained in the receiving container 10.

The powder storage container 540 is installed on the upper part of the powder supply device frame 501, and a plurality of receiving portions 541 in which diamond powders are separated and accommodated, each receiving portion 541 is divided by a partition wall 543 It is better to be formed in the same accommodation space. A plurality of the powder storage bins 540 may be installed.

The quantitative spoon 550 is mounted and stored in a spoon holder 551 installed adjacent to the powder storage container 540. In addition, a plurality of quantitative spoons 550 may be provided, and in a state clamped by the clamper 130 of the pickup device 100, the diamond powder in the powder storage container 540 is contained in a fixed amount at a diamond supply position (C). It is used for selectively supplying the placed receiving container 10 and the hopper body 533a.

The spun loading amount adjusting unit 560 includes a loading amount adjusting blade 561, a rotating member 563 supporting the supporting amount adjusting blade 561, and a rotation driving part 565 for reciprocating the rotating member 563 by a predetermined angle. , And a vibrator 567 installed on the rotating member 563.

The loading amount adjustment blade 561 is installed to be vertically upright on the lower part of the rotating member 563, and as shown in FIG. 12, the diamond powder contained in the quantitative spoon 550 is quantified while being positioned above the powder storage container 540. It serves to scrape so as to contain only the height of the spoon 550. That is, as shown in FIGS. 15 and 16, the diamond powder contained in the quantitative spoon 550 higher than the quantitative spoon 550 is cut by the loading amount adjusting blade 561 and recovered back to the powder storage container 540. Therefore, it is possible to prevent the diamond powder from being directly supplied to the hopper body 533a or the receiving container 10 while the diamond powder is contained in the quantitative spoon 550 more than necessary. Accordingly, when supplying professional diamond powder to the receiving container 10, the number of times required for direct supply to the receiving container 10 can be accurately set and used up to a certain level before micro-supplying to the fine powder supply unit 530.

The rotation member 563 may be reciprocally rotated so as to be positioned above or out of the powder storage container 540 by a rotation driving unit 565 installed in the powder supply device frame 501. That is, when scooping diamond powder from the powder storage container 540 into the quantitative spoon 550, as shown in FIG. 14, the rotating member 563 is away from the upper portion of the powder storage container 540 and the quantitative spoon 550 interferes. Do not.

And after the diamond powder is put in the quantitative spoon 550, the rotating member 563 is rotated to be positioned above the powder storage container 540 as shown in FIGS. 12 and 13. In this state, as shown in FIGS. 15 and 16, diamond powder having a predetermined height or more is contained in the quantitative spoon 550 by moving in a state in which the quantitative spoon 550 is in contact with the lower portion of the loading amount adjusting blade 561. So it can be adjusted.

In addition, it is preferable that a vibrator 567 is further installed on the rotating member 563. As shown in FIG. 16, the vibrator 567 is driven when it is moved in a state in which the amount adjusting blade 561 is brought into contact with the fixed amount adjusting blade 561. ) Also cause vibration. Accordingly, the diamond powder adhered to the surface of the loading amount adjusting blade 561 and the quantitative spoon 550 is separated by vibration and recovered to the powder storage container 540. Therefore, in the process of transferring the quantitative spoon 550 to the receiving container 10 or the hopper body 533a, diamond powder contained more than necessary or diamond powder embedded in the quantitative spoon 550 falls to the surroundings and is lost, contaminating the surroundings. Can be prevented.

In addition, as shown in FIGS. 17 to 19, it is preferable to further include a powder spatula member 570 for scraping and collecting diamond powder contained in the powder storage container 540 to one side. The powder spatula member 570 may be mounted and stored on a mounting member (not shown) installed on the powder supply device frame 501. The powder spatula member 570 is clamped by a spatula member main body 571, a plurality of guide members 573 branched from and connected from the spatula member main body 571, and a clamper 130 of the pickup device 100. It has a clamping part 575.

The powder spatula member 570 having the above configuration is, as shown in FIG. 19, when the diamond powder in the powder reservoir 540 is pulled to either side, the spatula member 570 to the clamper 130 of the pickup device 100 ) By clamping the clamping part 575 so that the guide member 573 is located inside the powder storage container 540. In that state, when the robot arm 410 is operated to move the powder spatula member 570, the diamond powder in the powder storage container 540 can be collected in a position suitable for dispensing with the quantitative spoon 550.

The powder flattening device 600 includes a first flattening unit 610 and a second flattening unit 620. Referring to FIGS. 20 to 24B, the first flattening unit 610 is for primarily flattening the diamond powder P accumulated in the receiving container 10 to a lower height than the receiving container 10.

The first flat unit 610 includes a unit frame 611, a container mounting jig 613 rotatably installed on the unit frame 611, and a jig driving part 615 that rotates the container mounting jig 613 Wow, the first flattening module 617 for flattening the diamond powder P of the receiving container 10 seated on the container mounting jig 613, and the first flattening for lifting and driving the first flattening module 617 It is provided with an elevating drive unit 619 for.

The container mounting jig 613 is rotatably installed on the upper portion of the unit frame 611, and a plurality of containers may be installed adjacent to each other. The container mounting jig 613 has a rotating body 613a and a jig body 613b installed on the upper part of the rotating body 613a, as shown in FIG. 22. The rotating body 613a has a square frame structure having a space in the center, and the lower end is rotatably installed on the unit frame 611. The jig body 613b installed on the upper part of the rotating body 613a has a container mounting groove 613c inserted from the upper surface to a predetermined depth. The upper surface of the rotating body 613a and the jig body 613b each have through slits s1 and s2 penetrating upward and downward, so that the pick-up device 100 when mounting the receiving container 10 in the container mounting groove 613c Will not interfere. The container mounting groove 613c is formed to a depth smaller than the height of the receiving container 10, and a vacuum pressure generating hole h1 for providing a vacuum pressure is formed at the bottom. The suction pressure provided from the vacuum pressure supply unit 616 is generated in the vacuum pressure generating hole h1, so that the receiving container 10 mounted in the container mounting groove 163c is in close contact with the jig body 613b by vacuum pressure and fixed. It can be rotated stably together in the state. The vacuum pressure supply unit 616 includes a vacuum pump 616a and a vacuum pressure transfer line 616b. The vacuum pressure transmission line 616b is provided to connect the vacuum pump 613a and the jig body 613b in which the vacuum pressure generating hole h1 is formed, and preferably the central axis of the jig driving unit 615 and the rotating body It may be installed to be connected to the vacuum pressure passage of the jig body 613b via the 613a.

The jig driving unit 615 includes a driving motor installed on the unit frame 611 to rotate and drive the rotating body 613a. The jig driving unit 615 is driven and controlled by the control unit 700.

The primary flattening module 617 includes a flat blade 617a and a blade holder 617b to which the flat blade 617a is fixedly installed in a vertical posture. The flat blade 617a has a thin plate structure or a knife structure, and the length in the horizontal direction is formed to be shorter than the inner diameter of the receiving container 10. The flat blade 617a is disposed to be located in the center of the receiving container 10 mounted in the container mounting groove 613c, as shown in FIG. 22, and when descending, as shown in FIG. It enters into the interior of (10) and plays a role of flattening the diamond powder (P) piled up in the central part of the container (10) when the container mounting jig (613) is rotated to spread the entire container (10). do.

The first flat lifting drive unit 619 is for lifting and driving the primary flat module 617, a lifting frame 619a that supports the first flat module 617 and is installed to move up and down, and a unit frame An elevating guide member 619b installed on the upper part of the 611 to guide and support the elevating frame 619a so as to move up and down, and a first flattening actuator 619c of the elevating frame 619a. The first flattening actuator 619c may have a hydraulic cylinder that directly lifts and moves the lifting frame 619a, and also a lead screw screwed to the lifting frame 619a, and the lead screw rotates in both directions. It may have a configuration including a drive motor for lifting and moving the lifting frame by driving.

In addition, as shown in Figure 24a, the container pressing member for pressing the container 10 so that the container 10 placed in the container mounting jig 613 can be seated in close contact with the container mounting groove 613c ( 618) may be further provided. The container pressurizing member 618 is mounted and stored on a holder 611a installed on the unit frame 611, and when necessary, a clamping unit 130 using the clamper 130 of the jig device 100 connected to the robot arm 410 It is used to clamp 618a) and press the receiving container 10 mounted on the container mounting jig 613 from top to bottom. The container pressing member 618 has a pair of container pressing parts 618b spaced up and down with respect to the clamping part 618a, and the clamping part 618a is a rod at a connection part connecting the container pressing part 618b. Connected in the form. A circular hole h2 is formed in the center of the container pressing portion 618b, so that when pressing the receiving container 10, diamond powder P accumulated in the central portion of the receiving container 10 is transferred to the container pressing member 618. It is possible to prevent burying or being interfered with and from being separated from the receiving container 10. Therefore, while preventing the amount of diamond powder (P) in the receiving container 10, which is measured and contained in a quantity, from changing, the first planarization process can be performed.

25 to 28, the second flat unit 620 includes a unit frame 611, a container mounting jig 613 rotatably installed on the unit frame 611, and a container mounting jig 613. A jig driving unit 615 that drives rotation, a secondary flattening module 627 for flattening the diamond powder (P) of the receiving container 10 seated on the container mounting jig 613, and a secondary flattening module 627 It is provided with a second flat lifting drive (629) for driving the lifting.

In the second flattening unit 620, the same components as those of the first flattening unit 610 are assigned the same reference numerals, and thus detailed descriptions of the same components are omitted. The second flattening unit 620 is for further flattening the surface of the diamond powder in the receiving container 10, which is first flattened by the first flattening unit 610. Therefore, the receiving container 10, which has undergone the first flattening process in the first flattening unit 610, is picked up by the pickup device 100 by the driving of the robot arm 410, and the container of the second flattening unit 620 is mounted. After being moved to the jig 613, it is secondarily flattened by the secondary flattening module 627.

To this end, the secondary flattening module 627 includes a cylindrical flat disc 727a and a flat disc holder 727b supporting the flat disc 727a. The flat disk 727a has a disk shape of a predetermined thickness, and preferably has an outer diameter smaller than the inner diameter of the receiving container 10, and the lower surface has a small roughness and a smooth surface treatment. As a result, when the container mounting jig 613 is rotated, the secondary flattening module 627 descends by the driving of the second flattening lift drive unit 629 and is in close contact with the diamond powder P in the receiving container 10. The planarization process becomes possible.

The second flattening module 627 is driven up and down by the second flattening lift driving unit 629. Since the second flat lift driving unit 629 is the same as the configuration of the first flat lift driving unit 619 described above, a detailed description will be omitted.

As described above, the receiving container 10, which has undergone the first and second flattening processes, is picked up and moved by the pickup device 100 for a subsequent packaging process.

The control unit 700 controls the robot device 400 to load and align the receiving container 10, supply diamond powder, and pick up the robot arm 410 to move the receiving container 10 in accordance with the flatness and process. Controls the operation of the device 100.

In addition, the controller 700 controls the driving of the diamond powder supply device 500 so that the diamond powder can be weighed and contained in the receiving container 10 with an accurate weight, and the powder flattening device 600 is also independently driven and controlled. By doing so, the planarization process can be automatically performed sequentially.

As described above, the system of the present invention picks up the empty container 10 mounted on the tray 20 at the unloading position A and aligns the position at the alignment position B. Then, in a state in which the position-aligned receiving container 10 is moved to the powder supply position C, the diamond powder is quantitatively measured using the powder supply device 500 and then finely supplied and contained.

In addition, the receiving container 10 in which the diamond powder is quantified and contained is a stepwise planarization process by the second flattening unit 610 and the second flattening unit 620 at each of the first and second flat positions (D12, D2). After passing through, it is moved and supplied for the next process.

In this way, supply of the receiving container 10, alignment, fine supply of diamond powder, quantitative measurement, and planarization processes can be sequentially and automatically performed.

Therefore, by quantitatively weighing and containing diamond powder in the receiving container 10, and by automating the entire process of flattening the diamond powder, various problems caused by the conventional operator manually proceeding can be solved. In particular, there is an advantage of improving the workability, shortening the time, and increasing the reliability of the weighing by containing the correct amount through accurate weighing and performing it automatically.

As described above, the present invention has been illustrated and described in connection with a preferred embodiment for illustrating the principle of the present invention, but the present invention is not limited to the configuration and operation as shown and described as such. Rather, it will be well understood by those skilled in the art that many changes and modifications can be made to the present invention without departing from the spirit and scope of the appended claims.

10..receptor 20..tray
100..pickup device 110..unit body
200..alignment unit 210..alignment member
211..guide plate 213..guide drive
220..air spray member 300..loading part
400..robotic device 410..robotic arm
500..Diamond powder supply device 501..Powder supply device frame
510..weight measuring part 520..container holder
530..powder fine supply unit 540..powder reservoir
550..Quantitative spoon 560..Spoon loading control unit
600..powder flattening device 610..first flattening unit
620..2nd flattening unit

Claims (9)

A tray loading unit provided with a tray equipped with a receiving container for measuring and containing diamond powder;
A receiving container alignment device that picks up the receiving containers individually from the tray of the tray loading unit and aligns them before supplying them to the diamond powder supply position;
A diamond powder supply device that automatically supplies and measures diamond powder to the receiving container aligned to the diamond powder supply position and positioned therein;
A powder flattening device for flattening a surface of diamond powder in a container containing diamonds measured by the diamond powder supplying device;
A pickup device for picking up the receiving container and the tray, and clamping tools used in the diamond powder supply and powder flattening process;
A robot device for driving and controlling the pickup device and a robot arm to which the pickup device is connected; And
And a control unit for independently driving and controlling the diamond powder supply device, the powder flattening device, the pickup device, and the robot device for each position movement operation of the receiving container, a diamond powder supply process and a planarization process. Diamond powder quantitative automatic packaging system. The method of claim 1, wherein the accommodation container alignment device,
A container alignment member connected to the loading frame of the tray loading unit and arranged in an up-and-down manner so that the receiving container moved by the pickup device slides and is aligned with the pickup position; And
And an air injection member for injecting air to the container alignment member to intimately contact the receiving container placed on the container alignment member to the alignment position. The method of claim 2, wherein the container alignment member,
A slide plate installed to be inclined up and down from the front end of the loading frame; And
Diamond powder quantification comprising: a pair of container guide ribs installed to protrude on the inclined surface of the slide plate and gradually narrowing the gap toward the bottom so that the receiving container is guided and guided to stop while descending; Automatic packaging system. The method according to any one of claims 1 to 3,
The diamond powder supply device,
A weight measuring unit installed on the powder supply device frame;
A container holder installed on the weight measuring unit and on which the receiving container is mounted;
A powder fine supply unit for finely supplying diamond powder to a receiving container placed on the container holder;
A powder reservoir in which diamond powder to be put in the receiving container is stored;
A quantitative spoon for supplying the diamond powder of the powder storage container to the micro-supply unit and the receiving container;
Including; a spoon loading amount control unit for controlling the amount of powder contained in the quantitative spoon,
The quantitative automatic packaging system of diamond powder, characterized in that used to hold the diamond powder in the powder storage container while being clamped by the pickup device and transfer it to the receiving container placed on the container holder and the powder fine supply unit. The method of claim 4, wherein the powder fine supply unit,
A powder fine supply hopper installed on the upper part of the container holder and having an outlet through which diamond powder is discharged;
A powder supply amount control unit for adjusting an amount of discharge to be discharged through the discharge port by flowing the diamond powder accommodated in the powder fine supply hopper;
Includes; a vibration generating unit for generating vibration in the powder fine supply hopper,
The powder micro-supply hopper comprises a hopper body having a funnel shape and a hopper support portion connected to the hopper body and supported by the powder supply device frame. The method of claim 4, wherein the scoop loading amount control unit,
A loading amount control blade for scraping off the diamond powder exposed to the upper surface of the quantitative spoon;
A rotation member that supports the loading amount adjustment blade and is installed to be reciprocally rotated in a horizontal direction;
A rotation driving unit that reciprocates and rotates the rotation member to change the position of the loading amount control blade to be positioned above or out of the powder storage container; And
Diamond powder quantitative automatic packaging system comprising; a vibrator installed on the rotating member to generate vibration. The method according to any one of claims 1 to 3, wherein the powder flattening device,
A first flattening unit for flattening the diamond powder contained in the diamond powder supply device to a height of the receiving container or more to a height of the receiving container or less; And
And a second flattening unit for smoothly flattening the diamond powder flattened below the height of the receiving container in the first flattening unit. The method of claim 7, wherein the first flattening unit,
Unit frame;
A container mounting jig rotatably installed on the unit frame and on which the receiving container is mounted;
A jig driving unit that rotates the container mounting jig;
A primary flattening module for flattening the diamond powder in the receiving container seated on the container mounting jig;
Including; a first flat lifting drive for driving the first flat module to lift,
The primary flattening module includes: a flat blade for flattening the diamond powder by entering the receiving container, and a blade holder fixedly installed in a vertical vertical position and moved up and down by the first flat lift drive unit; Diamond powder quantitative automatic packaging system comprising a. The method of claim 7, wherein the second flattening unit,
Unit frame;
A container mounting jig rotatably installed on the unit frame and on which the receiving container is mounted;
A jig driving unit that rotates the container mounting jig;
A second flattening module for flattening diamond powder in the receiving container mounted on the container mounting jig;
Including; a second flat lifting drive for driving the second flat module lifting,
The secondary flattening module comprises a cylindrical flat disc, and a flat disc holder supporting the flat disc and being moved up and down by the second flat lift drive unit.

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